一种工业机器人手臂快速碰撞检测算法  

A Fast Collision Detection Algorithm of Industrial Robot's Arm

作　　者：凌家良[1,2] 施荣华[1] 王国才[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410075 [2]惠州学院电子科学系,广东惠州516015

出　　处：《山西电子技术》2009年第3期34-37,共4页Shanxi Electronic Technology

摘　　要：碰撞检测是机器人轨迹规划、计算机仿真等领域的重要问题之一,本文在前人的基础上提出一种工业机器人关节间碰撞检测算法。其特点是先将关节简化为半径为的圆柱体和两端半径为的半球组成的实体,对简化后的实体做齐次变换,将三维干涉问题转化为二维干涉问题,对变换后的实体可能的位置关系进行分析,然后将变换后的实体在二维直角平面上对相应实体的投影进行干涉检测。The collision detection is one of the important questions of domain such as the robot trajectory planning and computer simulation. The paper proposes a fast collision detection algorithm of industrial robot＇s arm on the basis of predecessor＇ s production. The first character is to simplify the joint as a entity by composed of a cylinder radius equal to r and two hemi- sphere radius equal to r at both ends of cylinder, after be simplified the entity makes the homogeneous transformation T, transforms the three-dimensional interference question into the two-dimensional interference question, analyzes the possible position relations of entity after be transformed, and carries on interference examination of the corresponding entity＇s projection in the two-dimensional plane.

关 键 词：碰撞检测 齐次变换 正投影 关节杆件实体 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]